EP1308415B1 - Dispositif de levage hydraulique en particulier pour chariots industriels alimentés par batterie et son procédé de commande - Google Patents

Dispositif de levage hydraulique en particulier pour chariots industriels alimentés par batterie et son procédé de commande Download PDF

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Publication number
EP1308415B1
EP1308415B1 EP20020024330 EP02024330A EP1308415B1 EP 1308415 B1 EP1308415 B1 EP 1308415B1 EP 20020024330 EP20020024330 EP 20020024330 EP 02024330 A EP02024330 A EP 02024330A EP 1308415 B1 EP1308415 B1 EP 1308415B1
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EP
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Prior art keywords
pump
pressure
hydraulic
lifting cylinder
line
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
EP20020024330
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German (de)
English (en)
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EP1308415A2 (fr
EP1308415A3 (fr
Inventor
Octavian Mare
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Dambach Lagersysteme & Co KG GmbH
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Dambach Lagersysteme & Co KG GmbH
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Publication of EP1308415A3 publication Critical patent/EP1308415A3/fr
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
    • F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
    • F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
    • F15B11/044—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed by means in the return line, i.e. "meter out"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
    • F15B21/14—Energy-recuperation means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
    • F15B2211/205—Systems with pumps
    • F15B2211/2053—Type of pump
    • F15B2211/20538—Type of pump constant capacity
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/30505—Non-return valves, i.e. check valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/30—Directional control
    • F15B2211/305—Directional control characterised by the type of valves
    • F15B2211/3056—Assemblies of multiple valves
    • F15B2211/30565—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve
    • F15B2211/3057—Assemblies of multiple valves having multiple valves for a single output member, e.g. for creating higher valve function by use of multiple valves like two 2/2-valves replacing a 5/3-valve having two valves, one for each port of a double-acting output member
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40507—Flow control characterised by the type of flow control means or valve with constant throttles or orifices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/405—Flow control characterised by the type of flow control means or valve
    • F15B2211/40515—Flow control characterised by the type of flow control means or valve with variable throttles or orifices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/41—Flow control characterised by the positions of the valve element
    • F15B2211/411—Flow control characterised by the positions of the valve element the positions being discrete
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/42—Flow control characterised by the type of actuation
    • F15B2211/426—Flow control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/40—Flow control
    • F15B2211/46—Control of flow in the return line, i.e. meter-out control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50518—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using pressure relief valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/505—Pressure control characterised by the type of pressure control means
    • F15B2211/50509—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means
    • F15B2211/50536—Pressure control characterised by the type of pressure control means the pressure control means controlling a pressure upstream of the pressure control means using unloading valves controlling the supply pressure by diverting fluid to the return line
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/515—Pressure control characterised by the connections of the pressure control means in the circuit
    • F15B2211/5151—Pressure control characterised by the connections of the pressure control means in the circuit being connected to a pressure source and a directional control valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/526—Pressure control characterised by the type of actuation electrically or electronically
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/52—Pressure control characterised by the type of actuation
    • F15B2211/528—Pressure control characterised by the type of actuation actuated by fluid pressure
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/50—Pressure control
    • F15B2211/55—Pressure control for limiting a pressure up to a maximum pressure, e.g. by using a pressure relief valve
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/705—Output members, e.g. hydraulic motors or cylinders or control therefor characterised by the type of output members or actuators
    • F15B2211/7051—Linear output members
    • F15B2211/7052—Single-acting output members
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/71—Multiple output members, e.g. multiple hydraulic motors or cylinders
    • F15B2211/7114—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators
    • F15B2211/7128—Multiple output members, e.g. multiple hydraulic motors or cylinders with direct connection between the chambers of different actuators the chambers being connected in parallel
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
    • F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
    • F15B2211/00—Circuits for servomotor systems
    • F15B2211/70—Output members, e.g. hydraulic motors or cylinders or control therefor
    • F15B2211/75—Control of speed of the output member

Definitions

  • the invention relates to a method for controlling a hydraulic lifting device, in particular for battery-powered trucks, which has a driven by an electric motor pump, by means of the at least one hydraulic lifting cylinder hydraulic oil is supplied from a reservoir via a feed line in the lifting operation, wherein the hydraulic oil in the load lowering operation of the lifting cylinder is fed back into the reservoir via a return flow line while flowing through the pump driving the electric motor acting as a generator.
  • the invention relates to a hydraulic lifting device, in particular for carrying out the method, with a drivable by an electric motor pump, by means of the at least one hydraulic lifting cylinder hydraulic oil can be supplied from a reservoir via a supply line in the lifting operation, the hydraulic oil in Lastsenk ceremoniess of the lifting cylinder via a Return flow under the flow of the working as a generator electric motor driving pump is fed back into the reservoir.
  • Such a hydraulic lifting device is often used in electrically driven industrial trucks or forklifts in which the operability or duration is substantially dependent on the capacity of the battery.
  • it is known to partially re-feed the potential energy in the system when the load is raised via an electric motor also operating as a generator into the battery.
  • a hydraulic lifting device with a corresponding energy recovery is shown, for example, in DE 199 21 629 A1, which has an electric motor which drives a pump which sucks hydraulic oil from a reservoir via a suction valve in the lifting operation and conveys it to the hydraulic lifting cylinder.
  • the hydraulic oil is directed by the hydraulic lifting cylinder through the pump operating in this state as a hydraulic motor, which drives a generator or the electric motor operating as a generator in this state, from which by means of a suitable, known per se electric circuit for energy recovery Battery is charged.
  • the speed of the electric motor for controlling the lifting or lowering speed of the hydraulic lifting cylinder is only used when the lifting cylinder is adjusted sufficiently quickly or recorded by a sensor device stroke speed a predetermined first limit or the lowering speed over a predetermined second limit.
  • the feed line has a branch line, via which hydraulic oil can be branched off from the feed line in the load lifting operation.
  • the branch line opens in the suction-side portion of the supply line downstream of the Nachsaugventils, so that the branched-off amount of hydraulic oil is supplied to the pump again.
  • the invention has for its object to provide a hydraulic lifting device of the type mentioned and a method for their control, in which or an excessive Wear of the pump and its internal leakage are largely avoided.
  • This object is achieved in terms of the method for controlling a hydraulic lifting device in that at the beginning of the load lowering operation located both in the upstream of the pump section of the return line and in the downstream of the pump section of the return line substantially prevailing in the lifting cylinder hydraulic pressure, wherein the pump is operated at an actual speed that is below a speed limit, and that a arranged in the return line downstream of the pump proportional pressure relief valve is only fully opened by a ramp function substantially when the actual speed of the pump above the Speed limit is, the electric motor then works as a generator.
  • the invention is based on the idea of minimizing the internal leakage of the pump by bringing the same hydraulic pressure into effect at both outlets of the pump, whereby the internal leakage is excluded even when the pump is at zero speed and consequently the internal leakage Cavitation wear is avoided.
  • the fine control or regulation of small lowering speeds of the load can be achieved by a corresponding low speed of the pump, which then works like a purely volumetric dosing. Since the pressure difference ⁇ p at the pump and its flow Q are minimal in this state, only a very low energy consumption arises.
  • the energy recovery operation is activated, in which the proportional pressure relief valve, which is arranged downstream of the pump in the return line, is fully open and the electric motor operates as a generator, which is driven by the working as a hydraulic motor pump.
  • the invention provides that the pressure in the return line at the beginning of Lastsenk memories means of a proportional pressure control valve, which is arranged upstream of the pump, via a ramp function on the pressure prevailing in the lifting cylinder hydraulic pressure is brought.
  • the pump is preferably never operated at a predetermined minimum speed during lifting operation.
  • the pump starts in the lifting operation via a pressure-free start. This is inventively achieved in that the pump at the beginning of lifting operation, the hydraulic oil as long as via a branch line returns to the reservoir, as the actual speed of the pump is below the speed limit, and that the branch line is closed by a valve, as soon as the actual speed of the pump is above the speed limit.
  • the speed limit value is preferably the predetermined minimum speed of the pump.
  • a hydraulic lifting device 10 shown schematically in FIG. 1 comprises a reservoir 11 for hydraulic oil, which is connected to two hydraulic lifting cylinders 12 via a feed line L1 consisting of several sections and subsequent connecting lines L4.1 and L4.2.
  • the indications "upstream” and “downstream” used refer to an oil flow from the reservoir 11 to the lifting cylinders 12, i. in the feeding direction for the lifting operation.
  • the supply line L1 is made up of a plurality of line sections.
  • a first section L1.1 leads from the reservoir 11 to a hydraulic pump P which is drivable by means of an electric motor M, in a manner not shown via a motor control unit draws energy from a battery.
  • a leakage line L7 (shown in dashed lines) can lead back into the storage container 11.
  • the first section L1.1 of the supply line L1 which represents the suction-side portion of the pump P, designed as a check valve Nachsaugventil NSV is arranged, which allows an oil flow in the feed direction, ie from the reservoir 11 to the pump P and prevents backflow.
  • a second section L1.2 of the supply line L1 connects, which leads to a first seat valve SV1, which is adjustable between an open position in which a flow in both directions is possible, and a blocking position in which an oil flow in the feeding direction, ie is suppressed to the lifting cylinders 12.
  • the first seat valve SV1 is biased by a spring into the blocking position, which it automatically assumes in the event of a power failure.
  • a first check valve RV1 is arranged, which only supplies an oil flow in the feed direction, i. to the lifting cylinders 12 permits and prevents backflow.
  • a pressure line L DA4 branches off between the pump P and the first seat valve SV1, which leads to a fourth pressure sensor DA4, by means of which the pressure prevailing in the second section L1.2 of the supply line L1 is detected can.
  • the first seat valve SV1 is adjoined by a third section L1.3 of the supply line L1, which branches off at its downstream end into the two connecting lines L4.1 and L4.2, which each lead to one of the hydraulic lifting cylinders 12. From the connecting line L4.2 another pressure line L DA1 branches off, which leads to a first pressure sensor DA1, by means of which the pressure prevailing in the connecting line L4.2 and thus the load pressure can be detected.
  • a return line L2 which also consists of several sections L2.1, L2.2 and L2.3.
  • a first section L2.1 of the return line L2 leads from the third section L1.3 of the supply line L1 to a second seat valve SV2, which is adjustable between an open position in which a flow in both directions is possible and a blocking position Oil flow is blocked in both directions.
  • the second seat valve SV2 is biased by a spring in the blocking position.
  • a second section L2.2 of the return line L2 extends from the second seat valve SV2 to a proportional pressure control valve PDRV. From the second section L2.2 of the return line L2 branches off upstream of the proportional pressure control valve PDRV another pressure line L DA3 , which leads to a third pressure transducer DA3, by means of which in the second section L2.2 of the return line L2 prevailing pressure can be detected. From the proportional pressure control valve PDRV, a bypass line L5 leads to the second section L1.2 of the supply line L1. The bypass line L5 opens into the second section L1.2 of the supply line L1 between the pressure line L DA4 and the first seat valve SV1.
  • a third section L2.3 of the return line L2 leads from the proportional pressure control valve PDRV to the suction-side first section L1.1 of the supply line L1 and flows thereinto between the suction valve NSV and the pump P.
  • the return line L2 into the first section L1.1 of the supply line L1 branches off from the third section L2.3 of the return line L2 another pressure line L DA2 , which leads to a second pressure sensor DA2, by means of which in the vicinity of the input of the pump P prevailing pressure can be detected.
  • a bypass line L3 Parallel to the first sections of the return line L2 runs a bypass line L3, which at its one end together with the first section L2.1 of the return line L2 in the third section L1.3 of the feed line L1 and with its other end in the third section L2. 3 of the return line L2 opens.
  • a third seat valve SV3 is arranged, which is adjustable between an open position in which a flow in both directions is possible, and a blocking position in which an oil flow in the return direction, i. from the third section L1.3 of the supply line L1 to the third section L2.3 of the return line L2 is prevented.
  • the third seat valve SV3 is biased by a spring in the blocking position.
  • a second check valve RV2 is arranged, which has a flow in the return direction, i. from the third section L1.3 of the supply line L1 to the third section L2.3 of the return line L2 permits and prevents flow in the opposite direction.
  • the hydraulic oil can from the lifting cylinders 12 via a designated in its entirety as a return flow path in the reservoir 11 flow back.
  • the return line comprises the connection lines L4.1 and L4.2, a part of the third section L1.3 of the supply line L1, the return line L2, the bypass line L3, parts of the first and second sections L1.1 and L1.2 of the supply line L1 including the flow through the pump P and the branch line L6.
  • the hydraulic oil In the lifting operation, i. for lifting the lifting cylinder 12, the hydraulic oil must be conveyed from the reservoir 11 through the supply line L1 into the corresponding chambers of the lifting cylinder 12.
  • the proportional pressure relief valve PDBV in the branch line L6 and the first seat valve SV1 in the supply line L1 are opened while the second seat valve SV2 and the third seat valve SV3 are closed.
  • the electric motor M is brought to a minimum speed with the pump P via an adjustable ramp function.
  • the hydraulic oil sucked by the pump P from the reservoir 11 through the sucking valve NSV and the first portion L1.1 of the supply line L1 and conveyed via the continuing second portion L1.2 occurs in this state, i. usually for a few fractions of a second, due to the fully open proportional pressure relief valve PDBV completely in the branch line L6 and is discharged without pressure into the reservoir 11.
  • the proportional pressure relief valve PDBV and the proportional pressure control valve PDRV are closed, whereby the pressure in the supply line L1 increases. If by means of the pressure transducer DA4 is detected that the pressure in the supply line L1 has reached the load floating pressure, which is detected by the pressure transducer DA1, the speed control of the pump P is released and the oil is supplied through the supply line L1 and the connecting lines L4.1 and L4.2 promoted to the lifting cylinders 12 so that they are raised. The speed thus determined, at which the speed control is released, is stored each time and allowed as minimum speed N min for braking the stroke.
  • the pump P continues to operate at a predetermined minimum speed N v (> N min ), the seat valve SV 2 of the return line L2 open and determines the lifting or lowering movement via the proportional pressure control valve PDRV. If the order is given to the proportional pressure control valve PDRV via the energization, to generate a greater pressure than the floating pressure, the load is raised.
  • the oil supply from the pump P to the lift cylinders 12 via the bypass line L5 and the proportional pressure control valve PDRV is opened and the discharge of the oil from the lift cylinder 12 in the third section L2.3 of the return line L2 and thus to the suction side of the pump P is closed at the proportional pressure control valve PDRV.
  • the load is held in position. Since one passes through the state of positional posture at the transition from lifting to lowering and vice versa, this movement can also be compared to a levitation method. It should be noted that the pressure relief or pressure control valves can not regulate any volume and the maximum lifting or lowering speed of the lifting cylinder 12 is limited solely by the pump speed.
  • the proportional pressure relief valve PDBV and the proportional pressure control valve PDRV are slightly adjusted below the load floating pressure detected by the pressure sensor DA1, ie p (DA4) ⁇ p (DA1) or p (DA3) ⁇ p (DA1).
  • the pressure set on the proportional pressure relief valve PDBV is slightly above the load floating pressure.
  • the electric motor M is kept regulated to zero speed and the seat valve SV2 is opened. Subsequently, the current supply of the proportional pressure control valve PDRV is reduced via an adjustable ramp.
  • the pressure at the proportional pressure relief valve PDBV is reduced to its minimum via an adjustable ramp function and the electric motor M starts operating in generator mode in which it is driven by the pump.
  • the braking or stopping the lowering movement takes place in accordance with the reverse order.
  • a pressure control via the pressure control valve PDRV can be used for the levitation method, a speed control using a fine proportional flow controller for small amounts of oil and high resolution in Differenz penflußclar.
  • the fine proportional flow regulator can open with its one connection between the second seat valve SV2 and the proportional pressure control valve PDRV in the second section L2.2 of the return line L2 and with the other terminal to the lying behind the second check valve RV2 and thus the pump P facing portion of the bypass line L3 be connected.
  • the lifting, lowering or floating of the load can be determined by the difference between the pump delivery Q P and the discharge amount Q of PSR over the fine proportional current regulator.
  • the load When the pump delivery amount Q P is greater than the discharge amount Q PSR of the fine proportional flow controller, the load is raised. When the pump delivery amount Q P is smaller than the discharge amount Q PSR of the fine proportional flow controller, the load is slowly lowered. If the two sets Q P and Q PSR are equal, the load is held in position.
  • the amount of oil can be regulated either via the fine proportional flow controller or vary accordingly over the pump speed.
  • the nozzle D1 In the load-lowering mode, the nozzle D1 allows the pressure build-up in the return line L2 at the start of the normal lowering movement.
  • the seat valve SV2 is energized and opened, so that in the return line L2 and also on the input side of the pump P, a pressure increase takes place.
  • the second pressure sensor DA2 detects the predetermined value of the pressure increase, the seat valve SV3 is opened and the speed control of the pump is released.
  • the further course of the lowering operation corresponds to that of the embodiment according to FIG.
  • the target position is approached in the so-called floating state.
  • the pump P is kept in operation at the minimum speed covering the leakage, wherein in the line section L1.2 downstream of the pump P, a pressure must be present, which is determined by the fourth pressure transducer DA4.
  • the first seat valve SV1 and the second seat valve SV2 remain energized open.
  • the volume flow controller SR1 is opened, so that hydraulic fluid over the first section L2.1 and the second section L2.2 of the return line L2 and the pressure line L DA3 , the connecting line L8 and the branch line L6 can flow back into the reservoir 11.
  • the volume flow controller SR1 is opened until the desired lowering speed is reached.
  • the difference dQ between the hydraulic oil amount delivered by the pump P and the amount of hydraulic oil discharged from the volumetric flow controller SR1 determines the direction of movement of the lift cylinders 12. If the difference dQ is positive (dQ> 0), ie, the pump P delivers more hydraulic oil than via the volumetric flow controller SR1 is discharged, the lifting cylinders 12 are raised. Accordingly, the lifting cylinders 12 are lowered when the difference amount is negative, that is, the pump P promotes less hydraulic oil than is discharged through the volumetric flow controller SR1.
  • the position of the lift cylinders is maintained.
  • the individual amounts of hydraulic oil and correspondingly said difference between the delivered and the discharged hydraulic oil quantity can be influenced by a change in the rotational speed of the pump and / or by the current supply and thus the degree of opening of the volumetric flow regulator SR1.
  • the third seat valve SV3 is closed and the pressure at the proportional pressure relief valve PDBV on the prevailing load pressure, which is detected by means of the first pressure transducer DA1, set. Subsequently, the first seat valve SV1 and the second seat valve SV2 opened and the speed of the pump P increased until the desired lifting speed of the lifting cylinder 12 is reached. From then on, the suspension process can be continued in the above-mentioned manner.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Fluid Mechanics (AREA)
  • General Engineering & Computer Science (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Combustion & Propulsion (AREA)
  • Analytical Chemistry (AREA)
  • Fluid-Pressure Circuits (AREA)

Claims (6)

  1. Procédé de commande d'un dispositif de levage hydraulique, en particulier pour chariots de manutention fonctionnant à l'aide de batteries, présentant une pompe (P) pouvant être actionnée par un moteur électrique (M) à l'aide de laquelle, en mode de levage de charge, de l'huile hydraulique est transportée par un conduit d'alimentation (L1) d'un réservoir (11) vers au moins un vérin élévateur (12) hydraulique, l'huile hydraulique étant refoulée, en mode de descente de charge, du vérin élévateur (12) dans le réservoir (11) par un conduit de refoulement (L2,L3,L1.2,L6) en traversant la pompe (P) entraînant le moteur électrique (M) faisant fonction de générateur, caractérisé en ce qu'au début du mode de descente de charge, la pression hydraulique régnant dans le vérin élévateur (12) se développe sensiblement aussi bien dans le segment (L2.3) du conduit de refoulement situé en amont de la pompe (P) que dans le segment (L1.2) du conduit de refoulement situé en aval de la pompe (P), la pompe fonctionnant à un régime effectif inférieur à une valeur limite de régime, et en ce qu'une soupape de limitation de pression proportionnelle (PDBV) disposée dans le conduit de refoulement en aval de la pompe (P) ne s'ouvre sensiblement complètement à l'aide d'une fonction en rampe que lorsque le régime effectif de la pompe est supérieur à la valeur limite de régime, le moteur électrique (M) faisant alors fonction de générateur.
  2. Procédé selon la revendication 1, caractérisé en ce que la pression existant dans le conduit de refoulement au début du mode de descente de charge est amenée à l'aide d'une fonction en rampe à la pression hydraulique régnant dans le vérin élévateur (12) au moyen d'une soupape de régulation de pression proportionnelle (PDRV), disposée en amont de la pompe (P).
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce qu'au début du mode de levage de charge, la pompe (P) refoule l'huile hydraulique sans pression par un conduit dérivé (L6) dans le réservoir (11) tant que le régime effectif de la pompe est inférieur à la valeur limite de régime, et en ce que le conduit dérivé (L6) est fermé par une soupape (PDBV) dès que le régime effectif de la pompe (P) est supérieur à la valeur limite de régime.
  4. Procédé selon l'une quelconque des revendications 1 à 3, caractérisé en ce que la valeur limite de régime correspond au régime minimal de la pompe (P).
  5. Dispositif de levage hydraulique, en particulier pour réaliser le procédé selon l'une quelconque des revendications 1 à 4, comprenant une pompe (P) pouvant être actionnée par un moteur électrique (M) au moyen de laquelle, en mode de levage de charge, de l'huile hydraulique peut être amenée à au moins un vérin élévateur hydraulique (12) d'un réservoir (11) par un conduit d'alimentation (L1), l'huile hydraulique pouvant être refoulée, en mode de descente de charge, du vérin élévateur (12) par un conduit de refoulement (L2,L3,L1.2,L6) en traversant la pompe (P) entraînant le moteur électrique (M) faisant fonction de générateur, dans le réservoir (11), caractérisé en ce que l'on prévoit un premier capteur de pression (DA1) qui enregistre la pression hydraulique régnant dans le vérin élévateur (12), en ce que dans le conduit de refoulement, en amont de la pompe (P) est disposée une soupape de régulation de pression proportionnelle (PDRV), en ce que l'on prévoit un deuxième capteur de pression (DA2), qui enregistre la pression de la pompe (P) du côté admission, en ce que l'on prévoit un dispositif de commande, au moyen duquel on peut ajuster la pression de la pompe du côté admission à la pression hydraulique régnant dans le vérin élévateur (12) en commandant la soupape de régulation de pression (PDRV) en fonction des valeurs de pression mesurées par les enregistreurs de pression (DA1, DA2), et en ce qu'en aval de la pompe (P), dans le conduit de refoulement, est disposée une soupape de limitation de pression proportionnelle (PDBV).
  6. Dispositif de levage hydraulique, en particulier pour réaliser le procédé selon l'une quelconque des revendications 1 à 4, comprenant une pompe (P) pouvant être entraînée par un moteur électrique (M) au moyen de laquelle, en mode de levage de charge, de l'huile hydraulique peut être amenée à au moins un vérin élévateur hydraulique (12) d'un réservoir (11) par un conduit d'alimentation (L1), l'huile hydraulique pouvant être refoulée, en mode de descente de charge, du vérin élévateur (12) par un conduit de refoulement (L2,L3,L1.2,L6) en traversant la pompe (P) entraînant le moteur électrique (M) faisant fonction de générateur, dans le réservoir (11), caractérisé en ce que l'on prévoit un premier capteur de pression (DA1) qui enregistre la pression hydraulique régnant dans le vérin élévateur (12), en ce que l'on prévoit un deuxième capteur de pression (DA2), qui enregistre la pression de la pompe (P) du côté admission, en ce que dans le conduit de refoulement, en amont de la pompe (P), est disposée une soupape (D1) au moyen de laquelle on peut ajuster la pression de la pompe du côté admission à la pression hydraulique régnant dans le vérin élévateur (12), et en ce qu'en aval de la pompe (P), dans la conduit de refoulement, est disposée une soupape de limitation de pression proportionnelle (PDBV).
EP20020024330 2001-11-06 2002-11-02 Dispositif de levage hydraulique en particulier pour chariots industriels alimentés par batterie et son procédé de commande Expired - Fee Related EP1308415B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2001154449 DE10154449A1 (de) 2001-11-06 2001-11-06 Hydraulische Hubvorrichtung insbesondere für batteriegetriebene Flurförderzeuge und Verfahren zu deren Steuerung
DE10154449 2001-11-06

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EP1308415A2 EP1308415A2 (fr) 2003-05-07
EP1308415A3 EP1308415A3 (fr) 2005-05-25
EP1308415B1 true EP1308415B1 (fr) 2007-02-07

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SE525159C2 (sv) * 2002-06-05 2004-12-14 Bt Ind Ab Förfarande för att styra sänkningsrörelsen för en trucks luftcylinder
DE102009053618A1 (de) * 2009-11-17 2011-05-19 Robert Bosch Gmbh Hydraulikantrieb mit Energierückgewinnung
US8196464B2 (en) * 2010-01-05 2012-06-12 The Raymond Corporation Apparatus and method for monitoring a hydraulic pump on a material handling vehicle
KR20110127773A (ko) 2010-05-20 2011-11-28 두산산업차량 주식회사 전동지게차의 에너지 회수 시스템
CN102108948B (zh) * 2010-12-28 2012-11-28 山河智能装备股份有限公司 一种适用于装卸搬运电动车的能量再生发电***
DE102012005432A1 (de) * 2012-03-17 2013-09-19 Jungheinrich Aktiengesellschaft Flurförderzeug mit mindestens einem Hubzylinder
JP6577336B2 (ja) * 2015-11-05 2019-09-18 株式会社豊田自動織機 産業車両
CN107601390A (zh) * 2017-09-22 2018-01-19 太仓市高泰机械有限公司 一种带有自锁功能的液压车的工作方法
CN107458999A (zh) * 2017-09-22 2017-12-12 太仓市高泰机械有限公司 一种带有阻尼减震装置的自调型液压车
CN107601391A (zh) * 2017-09-22 2018-01-19 太仓市高泰机械有限公司 一种液压车的自动感应及自锁方法
CN107352473A (zh) * 2017-09-22 2017-11-17 太仓市高泰机械有限公司 一种自调型液压车的工作方法
CN112209305A (zh) * 2020-10-30 2021-01-12 合力工业车辆（上海）有限公司 一种仓储叉车液压***
CN215058526U (zh) * 2021-03-19 2021-12-07 湖南星邦智能装备股份有限公司 双作用浮动油缸控制回路

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DE4416173C2 (de) * 1994-05-06 1996-05-30 Jungheinrich Ag Hydraulische Hubvorrichtung für batteriebetriebene Flurförderzeuge oder dergleichen
DE19744429A1 (de) * 1997-10-08 1999-04-22 Still Wagner Gmbh & Co Kg Flurförderfahrzeug mit einer Lastaufnahmevorrichtung und Verfahren zum Absenken der Lastaufnahmevorrichtung
DE19921629B4 (de) * 1999-05-10 2005-05-25 Dambach Lagersysteme Gmbh Hydraulische Hubvorrichtung
DE10048215A1 (de) * 2000-09-28 2002-04-11 Still Wagner Gmbh & Co Kg Hydraulische Hubvorrichtung

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DE10154449A1 (de) 2003-05-15
EP1308415A2 (fr) 2003-05-07
DE50209428D1 (de) 2007-03-22
EP1308415A3 (fr) 2005-05-25

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